Based on information fusion by multi-sensor tracking system, registration algorithm for heterogeneous spatiotemporal measurements is discussed. In the paper, principles of sensor registration for out-of-sequence measurement are introduced, the IMM based registration algorithm for multi-lag OOSM is proposed. The method that judging how old negative-time measurement could be used to retrodict the state is presented. On the condition of DAP (data association problem), the algorithm of how to obtain a strict chronological sequence of measurement is discussed. Finally, the conclusions and further works are addressed and some future problems are given.